source/libr2c2/trainrouter.cpp

   1 #include "driver.h"
   2 #include "layout.h"
   3 #include "route.h"
   4 #include "trackiter.h"
   5 #include "train.h"
   6 #include "trackchain.h"
   7 #include "trainroutemetric.h"
   8 #include "trainrouteplanner.h"
   9 #include "trainrouter.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 TrainRouter::TrainRouter(Train &t):
  17         TrainAI(t),
  18         priority(0),
  19         state(ON_THE_WAY),
  20         waypoints_changed(false),
  21         metrics_stale(false),
  22         current_sequence(0)
  23 {
  24         train.get_layout().signal_block_reserved.connect(sigc::mem_fun(this, &TrainRouter::block_reserved));
  25         train.signal_advanced.connect(sigc::mem_fun(this, &TrainRouter::train_advanced));
  26         train.signal_rear_advanced.connect(sigc::mem_fun(this, &TrainRouter::train_rear_advanced));
  27 }
  28
  29 TrainRouter::~TrainRouter()
  30 {
  31         for(vector<TrainRouteMetric *>::iterator i=metrics.begin(); i!=metrics.end(); ++i)
  32                 delete *i;
  33 }
  34
  35 void TrainRouter::set_priority(int p)
  36 {
  37         priority = p;
  38 }
  39
  40 bool TrainRouter::set_route(const Route *r)
  41 {
  42         routes.clear();
  43         if(r)
  44         {
  45                 routes.push_back(r);
  46                 create_lead_route();
  47         }
  48
  49         waypoints.clear();
  50         sequence_points.clear();
  51
  52         route_changed();
  53
  54         return true;
  55 }
  56
  57 const Route *TrainRouter::get_route() const
  58 {
  59         if(routes.empty())
  60                 return 0;
  61         return routes.front();
  62 }
  63
  64 void TrainRouter::use_planned_route()
  65 {
  66         if(!planner || planner->get_result()!=TrainRoutePlanner::COMPLETE)
  67                 return;
  68         if(waypoints.empty())
  69                 return;
  70
  71         const list<Route *> &planned_routes = planner->get_routes_for(train);
  72
  73         routes.clear();
  74         routes.insert(routes.end(), planned_routes.begin(), planned_routes.end());
  75         create_lead_route();
  76
  77         sequence_points = planner->get_sequence_for(train);
  78         current_sequence = 0;
  79
  80         route_changed();
  81 }
  82
  83 void TrainRouter::route_changed()
  84 {
  85         BlockIter fncb = train.get_last_critical_block().next();
  86
  87         state = ON_THE_WAY;
  88         reserving_route = routes.begin();
  89         if(!routes.empty())
  90         {
  91                 /* Find the route that should be used for the next allocated block.  We
  92                 can't rely on the resync code in block_reserved since we may need to
  93                 clear the stop marker to continue allocation. */
  94                 const BlockAllocator &allocator = train.get_block_allocator();
  95                 TrackIter track = allocator.first().track_iter();
  96                 list<SequencePoint>::iterator seq_begin = sequence_points.begin();
  97                 for(; track; track=track.next())
  98                 {
  99                         if(!advance_to_track(reserving_route, track))
 100                         {
 101                                 state = (allocator.is_block_current(track->get_block()) ? ADVANCED_TO_END : RESERVED_TO_END);
 102                                 break;
 103                         }
 104                         if(&track->get_block()==fncb.block())
 105                                 break;
 106
 107                         if(seq_begin!=sequence_points.end() && seq_begin->block==&track->get_block())
 108                         {
 109                                 // Assume any sequence points within critical blocks to be cleared
 110                                 current_sequence = seq_begin->sequence_out;
 111                                 ++seq_begin;
 112                         }
 113                 }
 114
 115                 sequence_points.erase(sequence_points.begin(), seq_begin);
 116
 117                 if(!sequence_points.empty())
 118                 {
 119                         const SequencePoint &sp = sequence_points.front();
 120                         if(sp.block==fncb.block() && !sp.is_cleared())
 121                                 state = SEQUENCE_CHECK_PENDING;
 122                 }
 123         }
 124
 125         /* Refresh from the first non-critical block to pick up any changes in the
 126         route.  Set stop marker first in case a stopping state was set within the
 127         critical blocks. */
 128         if(state!=ON_THE_WAY)
 129                 train.stop_at(&*fncb.flip());
 130         train.refresh_blocks_from(*fncb);
 131         // If we don't need to stop, clear a possible previous stop marker.
 132         if(state==ON_THE_WAY)
 133                 train.stop_at(0);
 134
 135         const Route *route = get_route();
 136         signal_route_changed.emit(route);
 137         signal_event.emit(Message("route-changed", route));
 138 }
 139
 140 void TrainRouter::set_destination(const TrackChain &d)
 141 {
 142         if(waypoints.empty())
 143                 waypoints.push_back(Waypoint(d));
 144         else
 145                 waypoints.back() = Waypoint(d);
 146         waypoints_changed = true;
 147         metrics_stale = true;
 148 }
 149
 150 void TrainRouter::add_waypoint(const TrackChain &chain, TrackChain::Direction dir)
 151 {
 152         waypoints.push_back(Waypoint(chain, dir));
 153         waypoints_changed = true;
 154         metrics_stale = true;
 155 }
 156
 157 const TrainRouter::Waypoint &TrainRouter::get_waypoint(unsigned index) const
 158 {
 159         if(index>=waypoints.size())
 160                 throw out_of_range("TrainRouter::is_waypoint");
 161
 162         return waypoints[index];
 163 }
 164
 165 const TrainRouteMetric &TrainRouter::get_metric(int index) const
 166 {
 167         if(waypoints.empty())
 168                 throw logic_error("no metrics");
 169         else if(metrics_stale)
 170                 throw logic_error("metrics are stale");
 171
 172         if(index<0)
 173                 return *metrics.back();
 174         else if(static_cast<unsigned>(index)>=waypoints.size())
 175                 throw out_of_range("TrainRouter::get_metric");
 176         else
 177                 return *metrics[index];
 178 }
 179
 180 void TrainRouter::set_departure_delay(const Time::TimeDelta &d)
 181 {
 182         delay = d;
 183         waypoints_changed = true;
 184 }
 185
 186 void TrainRouter::set_trip_duration(const Time::TimeDelta &d)
 187 {
 188         duration = d;
 189 }
 190
 191 void TrainRouter::message(const Message &msg)
 192 {
 193         if(msg.type=="set-route")
 194         {
 195                 if(msg.value.check_type<Route *>())
 196                         set_route(msg.value.value<Route *>());
 197                 else
 198                         set_route(msg.value.value<const Route *>());
 199         }
 200         else if(msg.type=="clear-route")
 201                 set_route(0);
 202         else if(msg.type=="set-destination")
 203         {
 204                 if(msg.value.check_type<TrackChain *>())
 205                         set_destination(*msg.value.value<TrackChain *>());
 206                 else
 207                         set_destination(*msg.value.value<const TrackChain *>());
 208         }
 209         else if(msg.type=="add-waypoint")
 210         {
 211                 if(msg.value.check_type<Waypoint>())
 212                 {
 213                         Waypoint wp = msg.value.value<Waypoint>();
 214                         add_waypoint(*wp.chain, wp.direction);
 215                 }
 216                 else if(msg.value.check_type<TrackChain *>())
 217                         add_waypoint(*msg.value.value<TrackChain *>());
 218                 else
 219                         add_waypoint(*msg.value.value<const TrackChain *>());
 220         }
 221         else if(msg.type=="set-departure-delay")
 222                 set_departure_delay(msg.value.value<Time::TimeDelta>());
 223         else if(msg.type=="set-trip-duration")
 224                 set_trip_duration(msg.value.value<Time::TimeDelta>());
 225 }
 226
 227 void TrainRouter::tick(const Time::TimeDelta &dt)
 228 {
 229         if(waypoints_changed && !planner)
 230                 start_planning(train.get_layout());
 231
 232         if(planner && planner->check()!=TrainRoutePlanner::PENDING)
 233                 apply_plan(train.get_layout(), *planner);
 234
 235         Layout &layout = train.get_layout();
 236         if(!layout.get_driver().is_halted() && !layout.get_clock().is_stopped())
 237         {
 238                 if(delay)
 239                 {
 240                         delay -= dt;
 241                         if(delay<Time::zero)
 242                         {
 243                                 duration = max(duration+delay, Time::zero);
 244                                 delay = Time::zero;
 245                                 train.ai_message(Message("set-target-speed", train.get_maximum_speed()));
 246                                 signal_departed.emit();
 247                                 signal_event.emit(Message("departed"));
 248                         }
 249                 }
 250                 else if(duration)
 251                         duration = max(duration-dt, Time::zero);
 252         }
 253
 254         if(state==SEQUENCE_CHECK_PENDING)
 255         {
 256                 if(sequence_points.front().is_cleared())
 257                 {
 258                         state = ON_THE_WAY;
 259                         train.stop_at(0);
 260                 }
 261                 else
 262                         state = WAITING_FOR_SEQUENCE;
 263         }
 264
 265         if(state==ADVANCED_TO_END && !train.get_speed())
 266         {
 267                 signal_arrived.emit(waypoints.back().chain);
 268                 signal_event.emit(Message("arrived", waypoints.back().chain));
 269                 state = ARRIVED;
 270         }
 271         else if(state==ARRIVED && !train.get_block_allocator().is_active())
 272                 set_route(0);
 273 }
 274
 275 void TrainRouter::save(list<DataFile::Statement> &st) const
 276 {
 277         st.push_back((DataFile::Statement("priority"), priority));
 278
 279         if(!routes.empty())
 280         {
 281                 RouteList::const_iterator i = routes.begin();
 282                 for(; (i!=routes.end() && (*i)->is_temporary()); ++i) ;
 283                 if(i!=routes.end())
 284                         st.push_back((DataFile::Statement("route"), (*i)->get_name()));
 285         }
 286 }
 287
 288 void TrainRouter::block_reserved(Block &block, Train *t)
 289 {
 290         if(routes.empty())
 291                 return;
 292
 293         if(t!=&train)
 294         {
 295                 if(!t)
 296                         return;
 297
 298                 // Are we waiting for the other train to pass a sequence point?
 299                 if(state==WAITING_FOR_SEQUENCE)
 300                 {
 301                         SequencePoint &sp = sequence_points.front();
 302                         if(sp.preceding_train==t && sp.block==&block)
 303                                 /* The other train's router will advance its sequence on the same
 304                                 signal and may not have handled it yet. */
 305                                 state = SEQUENCE_CHECK_PENDING;
 306                 }
 307
 308                 return;
 309         }
 310
 311         // Did we reach our next sequence point?
 312         if(!sequence_points.empty())
 313         {
 314                 SequencePoint &sp = sequence_points.front();
 315                 if(sp.block==&block)
 316                 {
 317                         current_sequence = sp.sequence_out;
 318                         sequence_points.pop_front();
 319                 }
 320         }
 321
 322         TrackIter track = train.get_block_allocator().iter_for(block).track_iter();
 323
 324         // Is the block a turnout?  If it is, set it to the correct path.
 325         if(unsigned taddr = block.get_turnout_address())
 326         {
 327                 int path = (*reserving_route)->get_turnout(taddr);
 328                 if(path>=0)
 329                         track->set_active_path(path);
 330         }
 331
 332         /* If the allocator has released blocks from the front, we may need to
 333         resync reserving_route. */
 334         if(reserving_route==routes.end() || !(*reserving_route)->has_track(*track))
 335         {
 336                 reserving_route = routes.begin();
 337                 state = ON_THE_WAY;
 338                 track = t->get_block_allocator().first().track_iter();
 339                 for(; track; track=track.next())
 340                 {
 341                         if(!advance_to_track(reserving_route, track))
 342                                 throw logic_error("internal error (reservation outside of route)");
 343                         else if(&track->get_block()==&block)
 344                                 break;
 345                 }
 346         }
 347
 348         /* Keep reserving_route pointing to the route containing the block that is
 349         expected to be allocated next. */
 350         for(; track; track=track.next((*reserving_route)->get_path(*track)))
 351         {
 352                 if(!advance_to_track(reserving_route, track))
 353                 {
 354                         // We've reached the end of the route.  Stop here.
 355                         state = RESERVED_TO_END;
 356                         train.stop_at(&block);
 357                         return;
 358                 }
 359                 if(&track->get_block()!=&block)
 360                         break;
 361         }
 362
 363         // Do we need to wait for another train to pass?
 364         if(!sequence_points.empty())
 365         {
 366                 SequencePoint &sp = sequence_points.front();
 367                 if(sp.block==&track->get_block() && !sp.is_cleared())
 368                 {
 369                         state = SEQUENCE_CHECK_PENDING;
 370                         train.stop_at(&block);
 371                 }
 372         }
 373 }
 374
 375 void TrainRouter::train_advanced(Block &block)
 376 {
 377         if(!waypoints.empty())
 378         {
 379                 // A waypoint is considered reached when the train has advanced through it.
 380                 BlockIter b_iter = train.get_block_allocator().iter_for(block);
 381                 const Waypoint &wp = waypoints.front();
 382                 TrackIter t_iter = b_iter.track_iter();
 383                 if(wp.chain->has_track(*t_iter))
 384                 {
 385                         while(1)
 386                         {
 387                                 TrackIter next = t_iter.next();
 388                                 if(!next)
 389                                         break;
 390
 391                                 if(!wp.chain->has_track(*next))
 392                                 {
 393                                         if(wp.direction!=TrackChain::UNSPECIFIED)
 394                                                 if(t_iter!=wp.chain->iter_for(*t_iter, wp.direction))
 395                                                         break;
 396
 397                                         if(waypoints.size()==1)
 398                                         {
 399                                                 if(state==RESERVED_TO_END)
 400                                                         state = ADVANCED_TO_END;
 401                                         }
 402                                         else
 403                                         {
 404                                                 const TrackChain *chain = wp.chain;
 405                                                 waypoints.erase(waypoints.begin());
 406                                                 metrics_stale = true;
 407                                                 signal_waypoint_reached.emit(chain);
 408                                                 signal_event.emit(Message("waypoint-reached", chain));
 409                                         }
 410                                         break;
 411                                 }
 412                                 else if(!block.has_track(*next))
 413                                         break;
 414
 415                                 t_iter = next;
 416                         }
 417                 }
 418         }
 419 }
 420
 421 void TrainRouter::train_rear_advanced(Block &block)
 422 {
 423         Track &track = *train.get_block_allocator().iter_for(block).endpoint().track;
 424
 425         // Drop any routes that are now completely behind the train.
 426         for(RouteList::iterator i=routes.begin(); i!=routes.end(); ++i)
 427                 if((*i)->has_track(track))
 428                 {
 429                         if(i!=routes.begin())
 430                         {
 431                                 routes.erase(routes.begin(), i);
 432                                 const Route *route = get_route();
 433                                 signal_route_changed.emit(route);
 434                                 signal_event.emit(Message("route-changed", route));
 435                         }
 436                         break;
 437                 }
 438 }
 439
 440 void TrainRouter::create_metrics()
 441 {
 442         for(vector<TrainRouteMetric *>::iterator i=metrics.begin(); i!=metrics.end(); ++i)
 443                 delete *i;
 444         metrics.clear();
 445
 446         metrics_stale = false;
 447
 448         if(waypoints.empty())
 449                 return;
 450
 451         for(vector<Waypoint>::const_iterator i=waypoints.begin(); i!=waypoints.end(); ++i)
 452                 metrics.push_back(new TrainRouteMetric(*i->chain, i->direction));
 453
 454         for(unsigned i=metrics.size()-1; i-->0; )
 455                 metrics[i]->chain_to(*metrics[i+1]);
 456 }
 457
 458 bool TrainRouter::create_lead_route()
 459 {
 460         if(routes.empty() || !train.is_placed())
 461                 return false;
 462
 463         BlockIter lcb = train.get_last_critical_block();
 464         TrackIter last_track_rev = lcb.reverse().track_iter();
 465
 466         unsigned count = 0;
 467         for(TrackIter i=last_track_rev; (i && i->get_block().get_train()==&train); i=i.next())
 468         {
 469                 if(routes.front()->has_track(*i))
 470                         ++count;
 471                 else if(count>0)
 472                 {
 473                         if(count==routes.front()->get_tracks().size())
 474                                 last_track_rev = i;
 475                         break;
 476                 }
 477         }
 478
 479         TrackIter next_track = last_track_rev.flip();
 480         if(!routes.front()->has_track(*last_track_rev) && !routes.front()->has_track(*next_track))
 481         {
 482                 Route *pf = Route::find(next_track, *routes.front());
 483                 if(!pf)
 484                         return false;
 485
 486                 routes.push_front(pf);
 487         }
 488
 489         Route *lead = 0;
 490         for(TrackIter i=last_track_rev; (i && i->get_block().get_train()==&train); i=i.next())
 491         {
 492                 if(!lead && !routes.front()->has_track(*i))
 493                 {
 494                         lead = new Route(train.get_layout());
 495                         lead->set_name("Lead");
 496                         lead->set_temporary(true);
 497                         routes.push_front(lead);
 498
 499                         TrackIter j = i.flip();
 500                         lead->add_track(*j);
 501                         lead->add_track(*j.next());
 502                 }
 503
 504                 if(lead)
 505                         lead->add_track(*i);
 506         }
 507
 508         return true;
 509 }
 510
 511 bool TrainRouter::advance_to_track(RouteList::iterator &route, const TrackIter &track)
 512 {
 513         Track &prev_track = *track.flip();
 514         unsigned taddr = (track->get_type().is_turnout() ? track->get_turnout_address() : 0);
 515         for(unsigned i=0; route!=routes.end(); ++i)
 516         {
 517                 bool in_route = (*route)->has_track(*track);
 518                 bool prev_in_route = (*route)->has_track(prev_track);
 519                 bool known_path = (!taddr || (*route)->get_turnout(taddr)>=0);
 520
 521                 if(in_route && (known_path || !prev_in_route))
 522                         return true;
 523                 else if(i==0 || prev_in_route)
 524                         ++route;
 525                 else
 526                         throw logic_error("internal error (routes are not continuous)");
 527         }
 528
 529         return false;
 530 }
 531
 532 void TrainRouter::get_routers(Layout &layout, vector<TrainRouter *> &routers, TrainRoutePlanner *planner)
 533 {
 534         const map<unsigned, Train *> &trains = layout.get_trains();
 535         routers.reserve(trains.size());
 536         for(map<unsigned, Train *>::const_iterator i=trains.begin(); i!=trains.end(); ++i)
 537                 if(TrainRouter *router = i->second->get_ai_of_type<TrainRouter>())
 538                         if(!planner || router->planner.get()==planner)
 539                                 routers.push_back(router);
 540 }
 541
 542 void TrainRouter::start_planning(Layout &layout)
 543 {
 544         vector<TrainRouter *> routers;
 545         get_routers(layout, routers);
 546
 547         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 548                 if((*i)->metrics_stale)
 549                         (*i)->create_metrics();
 550
 551         RefPtr<TrainRoutePlanner> planner = new TrainRoutePlanner(layout);
 552         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 553         {
 554                 (*i)->waypoints_changed = false;
 555                 (*i)->planner = planner;
 556         }
 557
 558         planner->plan_async();
 559 }
 560
 561 void TrainRouter::apply_plan(Layout &layout, TrainRoutePlanner &planner)
 562 {
 563         if(planner.get_result()==TrainRoutePlanner::FAILED)
 564                 layout.emergency(0, "Route planning failed");
 565
 566         vector<TrainRouter *> routers;
 567         get_routers(layout, routers, &planner);
 568
 569         /* Clear sequence counters first to avoid inconsistent state while applying
 570         the plan. */
 571         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 572                 (*i)->current_sequence = 0;
 573
 574         for(vector<TrainRouter *>::const_iterator i=routers.begin(); i!=routers.end(); ++i)
 575         {
 576                 (*i)->use_planned_route();
 577                 (*i)->planner = 0;
 578         }
 579 }
 580
 581
 582 TrainRouter::Waypoint::Waypoint(const TrackChain &c, TrackChain::Direction d):
 583         chain(&c),
 584         direction(d)
 585 { }
 586
 587
 588 TrainRouter::SequencePoint::SequencePoint(Block &b, unsigned o):
 589         block(&b),
 590         preceding_train(0),
 591         sequence_in(0),
 592         sequence_out(o)
 593 { }
 594
 595 bool TrainRouter::SequencePoint::is_cleared() const
 596 {
 597         if(!preceding_train)
 598                 return true;
 599
 600         TrainRouter *router = preceding_train->get_ai_of_type<TrainRouter>();
 601         return router->get_current_sequence()>=sequence_in;
 602 }
 603
 604
 605 TrainRouter::Loader::Loader(TrainRouter &r):
 606         DataFile::ObjectLoader<TrainRouter>(r)
 607 {
 608         add("priority", &TrainRouter::priority);
 609         add("route",    &Loader::route);
 610 }
 611
 612 void TrainRouter::Loader::route(const string &n)
 613 {
 614         obj.set_route(&obj.train.get_layout().get_route(n));
 615 }
 616
 617 } // namespace R2C2